文档介绍：? GE Fanuc Automation Frequency analyses Frequency analyses 频率分析频率分析 Bode diagram Bode diagram 伯德图伯德图?? Basics Basics 概述概述?? How to measure How to measure 描绘伯德图描绘伯德图?? Interpretation of results Interpretation of results 结果分析结果分析?? How to avoid Resonance How to avoid Resonance 避免谐振避免谐振 Targets Targets What you will learn What you will learn 学****内容学****内容?? How to measure servo performance How to measure servo performance –– response stability, stiffness and noise response stability, stiffness and noise 伺服系统品质的观测伺服系统品质的观测?? How to optimize servo performance How to optimize servo performance 伺服品质的最佳化伺服品质的最佳化?? How to tune velocity loop How to tune velocity loop 速度回路的调整速度回路的调整 Responsiveness Responsiveness What is responsiveness What is responsiveness 伺服响应性能伺服响应性能?? Responsiveness describes the ability of a servo Responsiveness describes the ability of a servo system to react to mand system to react to mand 响应是伺服系统对输入指令的反响应是伺服系统对输入指令的反映能力映能力?? The reaction time is the key way to measure The reaction time is the key way to measure 关键是关键是测量反映(响应时间) 测量反映(响应时间) ?? fast response is the aim fast response is the aim 目的是快速响应目的是快速响应?? High servo gain makes the system more High servo gain makes the system more responsive responsive 系统增益越高,响应越快系统增益越高,响应越快 Stiffness Stiffness What is Stiffness What is Stiffness 伺服刚性伺服刚性?? Stiffness describes the ability of a servo system Stiffness describes the ability of a servo system to e disturbance torque to e disturbance torque 刚性表示伺服系统克服扰动力刚性表示伺服系统克服扰动力矩的能力矩的能力?? It It’’ s difficult to measure because it s difficult to measure because it ’’ s hard to s hard to identify disturbances identify disturbances 因为难以识别扰动,故刚性测量不易因为难以识别扰动,故刚性测量不易?? The stiffer the better The stiffer the better 刚性越高越好刚性越高越好?? High servo gain makes the system stiffer High servo gain makes the system stiffer 伺服增益高系统惯性好伺服增益高系统惯性好 Stability Stability What is Stability What is Stability 稳定性稳定性?? Measures of stability describes w